Path control of a surface ship in restricted waters using sliding mode

This paper addresses the path control problem for a ship steering in restricted waters using sliding mode techniques. The ship´s dynamic equations and numerical computation of the bank disturbance forces are briefly described. The ship´s path control system is presented, which leads to a nonminimum phase system. Therefore, the traditional input-output linearization strategy in geometric control theory is modified to convert the controller design of a fourth-order nonlinear system to that of a second-order linear system. A continuous sliding mode controller is designed to ensure system´s robustness and better performance. Simulation and experimental studies validate the controller design. The simulation results demonstrate the effectiveness of the proposed controller and its practicality in the steering control and navigation of the ship